基于CAN总线的商用车电控空气悬架控制与试验研究
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摘要
空气悬架可以减少整车的振动噪声、降低车轮动载荷,安装有空气悬架的车辆可以获得理想的固有频率,具有更好的行驶平顺性和行驶安全性,因而有着广阔的发展应用前景。本文采用CAN总线网络技术对半主动空气弹簧悬架进行控制及试验研究,从而把汽车行驶平顺性和行驶安全性提高到一个新的实用水平。
本文以某商用车车型作为装备空气悬架的开发车型,在该车型上匹配前少片簧悬架和后空气弹簧悬架后对其控制方法和控制策略进行分析与实验研究。
对商用载货汽车整车控制策略进行模块化设计:启动控制模块、停车装载模块、稳态行驶模块。电控空气悬架系统中,车身高度及空气弹簧刚度准确调节的核心在于电磁阀阀门开关的时间选择及充气周期长度的确定。
根据商用车空气悬架控制系统的需要,确定了空气悬架系统的CAN总线网络拓扑结构,选择了实现CAN总线节点功能的硬件。以J1939协议为基础,设计了CAN总线空气悬架控制系统报文的PDU编码,加上起始帧、控制场、CRC场、数据场、应答场和帧结束场,得到了一个完整的CAN报文编码。为空气悬架整车控制试验及台架试验提供通讯基础。
采用Infineon(英飞凌)的XC167CI系列单片机作为CPU,设计开发电控空气悬架控制单元,构建空气悬架电控系统试验台架,对电控空气悬架系统的控制策略进行试验验证;对所提出的部分控制算法的有效性进行了验证。结果表明,所开发的电控空气悬架系统能够准确快速地实现控制目标,对各种工况均有较好覆盖,研究效果达到了预定要求。
Air suspension can decrease the vibration noise and wheel dynamic load of the vehicle. The vehicle with air suspension can get ideal frequency. Because the driving performance and security are all better, the application is much wide. This paper adopted the CAN-BUS in order to control the half-initiative air spring suspension, further to make the driving performance and security much better.
In this paper, by matching and designing air suspension for a type of traditional truck. We do the research on the Control Strategy and Algorithm of Electronic Control Air Suspension System for commercial vehicle.
Then to do the building block design for the control strategy of the entire car about the truck: Initiating control module. In the electrical control air suspension system, the center of the exactly regulate the body height and the stiffness of air spring is the timing of electromagnetic valve and the length of recharge cycle.
According to the demand of air suspension control system, ascertain the CAN bus network topology of the air suspension system, select the hardware to realize can bus node function. Base on J1939 agreement, design the PDU code of the CAN bus air suspension control system message, plus starting frame, controlling field, CRC field, answer field and frame finish field then get the whole CAN message code. These provide the communication foundation to the air suspension entire car control test and rig test.
Using Infineon (Infineon) XC167CI Series MCU as CPU, design and development of electronically controlled air suspension control unit, control unit (ECU). The verification test that part of the proposed control,algorithm validated the effectiveness. Results show that the development of the electronically controlled air suspension system can quickly and accurately achieve control objectives, the various working conditions are better coverage, and researching results achieved scheduled requirements.
本文以某商用车车型作为装备空气悬架的开发车型,在该车型上匹配前少片簧悬架和后空气弹簧悬架后对其控制方法和控制策略进行分析与实验研究。
对商用载货汽车整车控制策略进行模块化设计:启动控制模块、停车装载模块、稳态行驶模块。电控空气悬架系统中,车身高度及空气弹簧刚度准确调节的核心在于电磁阀阀门开关的时间选择及充气周期长度的确定。
根据商用车空气悬架控制系统的需要,确定了空气悬架系统的CAN总线网络拓扑结构,选择了实现CAN总线节点功能的硬件。以J1939协议为基础,设计了CAN总线空气悬架控制系统报文的PDU编码,加上起始帧、控制场、CRC场、数据场、应答场和帧结束场,得到了一个完整的CAN报文编码。为空气悬架整车控制试验及台架试验提供通讯基础。
采用Infineon(英飞凌)的XC167CI系列单片机作为CPU,设计开发电控空气悬架控制单元,构建空气悬架电控系统试验台架,对电控空气悬架系统的控制策略进行试验验证;对所提出的部分控制算法的有效性进行了验证。结果表明,所开发的电控空气悬架系统能够准确快速地实现控制目标,对各种工况均有较好覆盖,研究效果达到了预定要求。
Air suspension can decrease the vibration noise and wheel dynamic load of the vehicle. The vehicle with air suspension can get ideal frequency. Because the driving performance and security are all better, the application is much wide. This paper adopted the CAN-BUS in order to control the half-initiative air spring suspension, further to make the driving performance and security much better.
In this paper, by matching and designing air suspension for a type of traditional truck. We do the research on the Control Strategy and Algorithm of Electronic Control Air Suspension System for commercial vehicle.
Then to do the building block design for the control strategy of the entire car about the truck: Initiating control module. In the electrical control air suspension system, the center of the exactly regulate the body height and the stiffness of air spring is the timing of electromagnetic valve and the length of recharge cycle.
According to the demand of air suspension control system, ascertain the CAN bus network topology of the air suspension system, select the hardware to realize can bus node function. Base on J1939 agreement, design the PDU code of the CAN bus air suspension control system message, plus starting frame, controlling field, CRC field, answer field and frame finish field then get the whole CAN message code. These provide the communication foundation to the air suspension entire car control test and rig test.
Using Infineon (Infineon) XC167CI Series MCU as CPU, design and development of electronically controlled air suspension control unit, control unit (ECU). The verification test that part of the proposed control,algorithm validated the effectiveness. Results show that the development of the electronically controlled air suspension system can quickly and accurately achieve control objectives, the various working conditions are better coverage, and researching results achieved scheduled requirements.
引文
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2 Yu Qing and Hong Jia Zhen. Static correction modes in dynamical simulationof flexible multibody system with closed loops, Journal of Shanghai Jiao Tong University, 1997,E-2(1):17-20
3刘艳丽.奥迪A8轿车自适应空气悬架系统.汽车维修.2005,(11):8-10
4 Jianwen Zhang, Yang Xinglong, Lin Yi and Wang Wangyu.Performance Simulation Research on Bus with Air Suspension.SAE Paper 2002-01-3093
5 Darris L. White. Parametric Study of Leveling System Characteristics on Roll Stability of Trailing Arm Air Suspension for Heavy Trucks. SAE Paper 2000-01-3480
6 Leandro Pugliese de Siqueira,Felipe Nogueira,Cesar Coutinho Ramos,Joao Guilherme Herrmann,Silas Sartori,Charles Villiger,Gabriel Tegis de Paula , Fernando Fuhrken , Valter Martins de Vargas e Joao Felipe Araujo . Tractor Air Suspension Design and Tuning . SAE Paper 2002-01-3041
7 Ragnar Ledesma. Ride Performance Comparison of Trailer Suspension Systems Using Computational Methods. SAE Paper 2002-01-3103.
8 Bastow,Donald. Car suspension and handing [M]. London: British Library Cataloguing in publication Data,1987.
9 Hongwei Liu,Dejun Zhuang,Yi Lin, Wangyu Wang,Fengjun Zhang,Wei Zhang,Fengjun Liu.A Study on Nonlinear Stiffness Characteristic of Air Spring for a Bus.SAE Paper 2002-01-3092
10 Ashley T. Dudding and William Wilson.Development of a New Front Air Suspension and Steer Axle System for On Highway Commercial Vehicles.SAE Paper 2000-01-3449
11 Peter Holen,Boris Thorvald.Aspects on Roll and Bounce Damping for Heavy Vehicles.SAE Paper 2002-01-3060
12 Schoenfeld,Karl-H.Electronically Controlled Air Suspension(ECAS) for Commercial Vehicles.SAE Technical Paper Series Nov 18-21 1991
13鸟居修等(日).车辆用空气弹簧新控制系统的开发.国外铁道车辆.1993,(1):31~37
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15 J.R. EVANS.Rail Vehicle Dynamic Simulation Using VAMPIRE.Vehicle System Dynamics Supplement.1999,(31):119~140
16 K.Yoyofuku et.Study on Dynamic Characteristic Analysis of Air Spring with Auxiliary Chamber.JSAE Review.1999,(20):349~355
17 Jon Bunne and Roger Jable.Air Suspension Factors in Driveline Vibration.SAE962207
18 John Woodrooffe . Heavy Truck Suspension Dynamics : Methods for Evaluating Suspension Road Friendliness and Ride Quality.SAE Paper 962152
19 Annable W W.Pneumatic spring for vehicle [P]. US Pataent: No.673011, 1901-04-03.
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2 Yu Qing and Hong Jia Zhen. Static correction modes in dynamical simulationof flexible multibody system with closed loops, Journal of Shanghai Jiao Tong University, 1997,E-2(1):17-20
3刘艳丽.奥迪A8轿车自适应空气悬架系统.汽车维修.2005,(11):8-10
4 Jianwen Zhang, Yang Xinglong, Lin Yi and Wang Wangyu.Performance Simulation Research on Bus with Air Suspension.SAE Paper 2002-01-3093
5 Darris L. White. Parametric Study of Leveling System Characteristics on Roll Stability of Trailing Arm Air Suspension for Heavy Trucks. SAE Paper 2000-01-3480
6 Leandro Pugliese de Siqueira,Felipe Nogueira,Cesar Coutinho Ramos,Joao Guilherme Herrmann,Silas Sartori,Charles Villiger,Gabriel Tegis de Paula , Fernando Fuhrken , Valter Martins de Vargas e Joao Felipe Araujo . Tractor Air Suspension Design and Tuning . SAE Paper 2002-01-3041
7 Ragnar Ledesma. Ride Performance Comparison of Trailer Suspension Systems Using Computational Methods. SAE Paper 2002-01-3103.
8 Bastow,Donald. Car suspension and handing [M]. London: British Library Cataloguing in publication Data,1987.
9 Hongwei Liu,Dejun Zhuang,Yi Lin, Wangyu Wang,Fengjun Zhang,Wei Zhang,Fengjun Liu.A Study on Nonlinear Stiffness Characteristic of Air Spring for a Bus.SAE Paper 2002-01-3092
10 Ashley T. Dudding and William Wilson.Development of a New Front Air Suspension and Steer Axle System for On Highway Commercial Vehicles.SAE Paper 2000-01-3449
11 Peter Holen,Boris Thorvald.Aspects on Roll and Bounce Damping for Heavy Vehicles.SAE Paper 2002-01-3060
12 Schoenfeld,Karl-H.Electronically Controlled Air Suspension(ECAS) for Commercial Vehicles.SAE Technical Paper Series Nov 18-21 1991
13鸟居修等(日).车辆用空气弹簧新控制系统的开发.国外铁道车辆.1993,(1):31~37
14姜立标,王登峰.货车空气悬架的现状及发展趋势.齐齐哈尔大学学报2005(1):66-69
15 J.R. EVANS.Rail Vehicle Dynamic Simulation Using VAMPIRE.Vehicle System Dynamics Supplement.1999,(31):119~140
16 K.Yoyofuku et.Study on Dynamic Characteristic Analysis of Air Spring with Auxiliary Chamber.JSAE Review.1999,(20):349~355
17 Jon Bunne and Roger Jable.Air Suspension Factors in Driveline Vibration.SAE962207
18 John Woodrooffe . Heavy Truck Suspension Dynamics : Methods for Evaluating Suspension Road Friendliness and Ride Quality.SAE Paper 962152
19 Annable W W.Pneumatic spring for vehicle [P]. US Pataent: No.673011, 1901-04-03.
20郭孔辉.空气弹簧特性理论初步研究(上).汽车与拖拉机.1959,(22):6~11
21郭孔辉.空气弹簧特性理论初步研究(中).汽车与拖拉机.1959,(23):7~14
22郭孔辉.空气弹簧特性理论初步研究(下).汽车与拖拉机.1959,(24):14~17
23郭惠球,李冀荣.解放牌公共汽车改装空气悬挂的经验介绍.汽车与拖拉机.1959,(10):8~14
24董学峰.膜片空气弹簧的设计计算.汽车技术.1990,(3):4~9
25长春汽车研究所悬架组.大客车的空气悬架.汽车技术,1980,(6)
26陈耀明.混合式空气悬架的设计.汽车技术.1994,(1):8~15
27张光泉.大客车空气悬架导向机构的研究.当代汽车.1992,(1):10~14
28 D.Cebon , Simulation of response of leaf spring to broad random excitation, Vehicle System Dynamics, 1986,15
29方瑞华,解跃青,雷雨成.空气悬架理论及其关键技术.同济大学学报.2003,31(9):1072~1076
30赵洪伦,张广世.高速客车空气弹簧非线性横向刚度特性研究.铁道学报.1999,21(6):30~33
31王书镇.日野RC420型客车空气弹簧的台架试验.汽车技术.1990,(8)
32丁良旭,徐宗俊,郭钢.空气弹簧悬架汽车车体有限元边界条件的约束处理.汽车技术.2003,(6):18~21
33丁良旭.空气弹簧悬挂特性的计算机模拟.中国公路学报.1997,10(1):97~104
34张广世.有限元法研究空气弹簧参数对横向特性的影响.铁道车辆.2000,(9):17~20
35王树林,黄会荣.空气弹簧的形变特性.中国机械工程.1995,(6):学刊:64~67
36刘宏伟,雷海容,陈燕虹等.空气悬架系统模糊控制仿真分析.汽车技术.2003,(7):1~4
37庄德军.膜式空气弹簧非线性弹性特性有限元分析.吉林大学硕士学位论文.2003
38钱德猛.汽车空气悬架系统的参数化建模、分析及设计理论和方法研究.合肥工业大学博士学位论文.2005:58~63
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